Relations between Beijing and Hong Kong’s pro-democracy legislators may be notoriously chilly, but local politicians are hoping that some steamed scallops and fried rice can help to break the ice.

On Tuesday, for the first time since the 1997 handover, the head of Beijing’s liaison office in Hong Kong joined local legislators for a meal at the city’s government headquarters for a wide-ranging discussion on the city’s political future. The closed-door event was hosted by Tsang Yok-sing, who heads the city’s Legislative Council, as an attempt to boost dialogue between legislators in the former British colony and Beijing.

In his remarks, Zhang Xiaoming, who was appointed to head the liaison office last year, stressed that Beijing is earnest in supporting Hong Kong’s eventual ability to directly elect its leaders, participants said. Pan-democratic legislators—many of whom are banned from even visiting mainland China because of their outspoken activism—said it was a landmark meeting.

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“We haven’t had contact for more than two decades,” said Emily Lau, who chairs the Democratic Party, adding that Beijing has been loath to engage in any dialogue with pan-democratic parties.

Tuesday’s meeting was especially significant as pressure for universal suffrage in Hong Kong in 2017—the earliest date by which Beijing has said locals can begin directly electing their leader—continues to ratchet up. On July 1, the anniversary of the handover, tens of thousands of protesters flooded the streets to demand the right to vote. Another group led by a University of Hong Kong law professor has threatened to launch a sit-in intended to paralyze the city’s downtown next year if plans for universal suffrage don’t proceed. In particular, democratic activists fear Beijing will veto any candidate who fails to win the approval of the Communist Party.

In his remarks, Mr. Zhang said that he hoped to build more friendships in Hong Kong and would be happy to help arrange trips for local lawmakers to visit and learn more about mainland China. He also stressed that universal suffrage in Hong Kong must be created with “Hong Kong characteristics,” noting that Hong Kong is not a country, but rather an administrative region of China with a high degree of autonomy.

In advance of the lunch, local papers hailed the gathering, calling it the first step for “normalization” of relations between Beijing and Hong Kong’s pro-democracy camp, which currently comprises almost 40% of the legislature. Another commentator described it in a glowing editorial by saying “Hope is on the menu.”

“Usually pro-democracy legislators have no chance to really engage in dialogue with Chinese officials,” said City University political scientist Joseph Cheng, calling the gathering “unprecedented.”

Typically, communication with Beijing is handled by the city’s chief executive, a position currently held by Leung Chun-ying, who was elected to lead the city last year and has struggled with dim popularity ratings. Mr. Leung was not invited to the meeting, his office said Tuesday, which lasted an hour and included an eight-course meal of silky fowl soup, pumpkin cake, shrimp and more.

Currently, Ms. Lau said, there are seven pan-democratic lawmakers—10% of Hong Kong’s legislature—who are banned from visiting mainland China. Several abstained from attending the lunch, while others booed Mr. Zhang at the start of the event, but Ms. Lau said the gathering went well overall. “He did listen. We had a good exchange of views,” she said. “He seemed a bit tense, but that’s understandable.”

Still, Ms. Lau was tempered in her optimism about whether the event might signal greater rapprochement. “One swallow doesn’t make a summer,” she said.

Mr. Cheng agreed. “One doesn’t expect much. The important thing is what follows,” he said. “But a friendly gesture like this lunch is a welcome one.”

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